Walking mechanism with obstacle crossing function

Abstract

The utility model relates to the technical field of intelligent robot moving platforms, and discloses a walking mechanism with an obstacle crossing function, which comprises a base, a support rod is fixedly mounted at the bottom of the base, a sliding sleeve is slidably connected to the outer wall of the support rod, a hub motor is fixedly mounted at the bottom of the sliding sleeve, and the hub motor is connected with the base. A wheel hub motor is arranged on the base, a tire is fixedly installed on the outer wall of the wheel hub motor, a jacking mechanism facilitating obstacle crossing is arranged on the base, and a stabilizing mechanism for improving the stability of the base is arranged on the sliding sleeve. Meanwhile, a worm wheel, a rotating rod, a transverse rod, a pressing rod and a hollow rod are matched, so that the base can be jacked upwards, the gap between the base and the ground is increased, the base can directly cross over an obstacle by adjusting the height of the base, steering to avoid the obstacle is not needed, and the base is moved more smoothly.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent robot mobile platforms, and particularly relates to a walking mechanism with an obstacle-crossing function. Background Technique

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A robot can execute tasks such as operations or movements through programming and automatic control. A robot mainly consists of a control system and a moving device.

[0003] A movable robot mainly completes walking through a moving platform arranged at its bottom. The chassis height of most robot moving platforms on the market is usually relatively low. Such a design can reduce the center of gravity of the robot and make the robot move more smoothly during the movement.

[0004] When the robot encounters an obstacle during the movement, its built-in control system will drive the moving platform to bypass the obstacle. However, for some road conditions with many obstacles and complex positions, relying solely on the method of bypassing obstacles cannot make the robot move smoothly, and there may be a dead corner situation resulting in the robot being stuck. Content of the Utility Model

[0005] The purpose of the utility model is to provide a walking mechanism with an obstacle-crossing function to solve the problems raised in the above background technique.

[0006] To achieve the above purpose, the utility model provides the following technical solution: A walking mechanism with an obstacle-crossing function, including a base. A support rod is fixedly installed at the bottom of the base. A sliding sleeve is slidably connected to the outer wall of the support rod. A hub motor is fixedly installed at the bottom of the sliding sleeve. A tire is fixedly installed on the outer wall of the hub motor. A jacking mechanism for conveniently crossing obstacles is arranged on the base. By setting the jacking mechanism, the base can be jacked up so that the base can directly cross the obstacle. A stabilizing mechanism for improving the stability of the base is arranged on the sliding sleeve. By setting the stabilizing mechanism, the base can be effectively and stably supported during the rising process, thereby improving the stability of the base. The jacking mechanism includes:

[0007] A rotating rod, the rotating rod is rotatably connected to the bottom of the base. A cross bar is fixedly installed on the outer wall of the rotating rod. A pressing rod is fixedly installed at one end of the cross bar away from the rotating rod. A worm gear is fixedly installed on the outer wall of the rotating rod.

[0008] A hollow rod, both ends of the hollow rod are respectively fixedly installed on the outer walls of two groups of sliding sleeves. The outer wall of the pressing rod is attached to the inner wall of the hollow rod. By setting the hollow rod, the pressing rod can be limited.

[0009] Servo motor, the servo motor is fixedly installed at the bottom of the base, the output end of the servo motor is fixedly installed with a worm, and the worm meshes with a worm wheel. By setting the worm to cooperate with the worm wheel, the rotating rod can be driven to rotate.

[0010] Preferably, the stabilizing mechanism includes a support sleeve, the support sleeve is slidably connected to the outer wall of the sliding sleeve, and the support sleeve is provided with an inclined groove.

[0011] Preferably, the sliding sleeve is provided with a sliding groove.

[0012] Preferably, a pulley is rotatably connected to the bottom of the support sleeve, and the bottom of the pulley is at the same horizontal plane as the bottom of the tire.

[0013] Preferably, a limiting rod is fixedly installed on the outer wall of the support rod. By setting the limiting rod, the inclined groove can be extruded.

[0014] Preferably, the outer wall of the limiting rod fits against the inner walls of the sliding groove and the inclined groove.

[0015] Compared with the prior art, the present utility model provides a walking mechanism with an obstacle-crossing function, and has the following beneficial effects:

[0016] 1. For the walking mechanism with the obstacle-crossing function, by starting the servo motor to drive the worm to rotate, at the same time, in cooperation with the worm wheel, the rotating rod, the cross bar, the pressing rod, and the hollow rod, the base can be lifted upwards, so that the gap between the base and the ground becomes higher. By raising the base, the base can directly cross the obstacle without turning to avoid the obstacle, making the movement of the base smoother.

[0017] 2. For the walking mechanism with the obstacle-crossing function, when the base moves upwards, in cooperation with the support rod, the limiting rod, the sliding groove, and the inclined groove, the support sleeve can slide horizontally on the outer wall of the sliding sleeve, and drive the pulley to gradually move away from the tire. By adjusting the distance between the pulley and the tire to be longer, the support area of the sliding sleeve can be increased, so that the base can be effectively and stably supported during the rising process, thereby improving the stability of the base. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the overall structure of the present utility model;

[0019] Figure 2 is a schematic diagram of the lifting state structure of the base of the present utility model;

[0020] Figure 3 is an exploded schematic diagram of the overall structure of the present utility model;

[0021] Figure 4 is a schematic diagram of the overall bottom view structure of the present utility model;

[0022] Figure 5For the present utility model Figure 4 Schematic enlarged structure view of part A

[0023] In the figure: 1, base; 2, support rod; 3, sliding sleeve; 4, in-wheel motor; 5, tire; 6, jacking mechanism; 61, rotating rod; 62, hollow rod; 63, servo motor; 64, cross bar; 65, pressing rod; 66, worm gear; 67, worm; 7, stabilizing mechanism; 71, support sleeve; 72, pulley; 73, inclined slot; 74, sliding slot; 75, limiting rod Specific embodiments

[0024] As Figures 1 - 5 shown, the present utility model provides a technical solution: a walking mechanism with obstacle-crossing function, including a base 1, a support rod 2 is fixedly installed at the bottom of the base 1, a sliding sleeve 3 is slidably connected to the outer wall of the support rod 2, a in-wheel motor 4 is fixedly installed at the bottom of the sliding sleeve 3, a tire 5 is fixedly installed on the outer wall of the in-wheel motor 4. Starting the in-wheel motor 4 drives the tire 5 to rotate, and at the same time, cooperating with the sliding sleeve 3 and the support rod 2 enables the base 1 to move. An jacking mechanism 6 for conveniently crossing obstacles is arranged on the base 1. By arranging the jacking mechanism 6, the base 1 can be jacked up, so that the base 1 can directly cross the obstacle without turning to avoid the obstacle, making the movement of the base 1 smoother. A stabilizing mechanism 7 for improving the stability of the base 1 is arranged on the sliding sleeve 3. By arranging the stabilizing mechanism 7, the base 1 can be effectively and stably supported during the rising process, thereby improving the stability of the base 1

[0025] The above-mentioned jacking mechanism 6 includes a rotating rod 61, a hollow rod 62, a servo motor 63, a cross bar 64, a pressing rod 65, a worm gear 66, and a worm 67; the rotating rod 61 is rotatably connected to the bottom of the base 1, a cross bar 64 is fixedly installed on the outer wall of the rotating rod 61. By rotating the rotating rod 61, the cross bar 64 can be driven to rotate downward with the rotating rod 61 as the center. A pressing rod 65 is fixedly installed at the end of the cross bar 64 away from the rotating rod 61. By driving the cross bar 64, the pressing rod 65 moves downward. While the pressing rod 65 moves downward, it presses the hollow rod 62 downward and moves inside the inner wall of the hollow rod 62. A worm gear 66 is fixedly installed on the outer wall of the rotating rod 61. The two ends of the hollow rod 62 are respectively fixedly installed on the outer walls of two groups of sliding sleeves 3. The outer wall of the pressing rod 65 is attached to the inner wall of the hollow rod 62. Since the tire 5 is in contact with the ground, when the pressing rod 65 presses the hollow rod 62 downward, the cross bar 64 exerts an upward thrust on the rotating rod 61, thereby enabling the rotating rod 61 to push the base 1 upward. At this time, under the guiding action of the support rod 2 and the sliding sleeve 3, the base 1 moves vertically upward, so that the gap between the base 1 and the ground becomes higher. The servo motor 63 is fixedly installed at the bottom of the base 1, and a worm 67 is fixedly installed at the output end of the servo motor 63. Starting the servo motor 63 drives the worm 67 to rotate. The worm 67 meshes with the worm gear 66. By rotating the worm 67 and cooperating with the meshing worm gear 66, the rotating rod 61 can be driven to rotate

[0026] The above-mentioned stabilizing mechanism 7 includes a support sleeve 71, a pulley 72, an inclined groove 73, a sliding groove 74, and a limiting rod 75; the support sleeve 71 is slidably connected to the outer wall of the sliding sleeve 3, an inclined groove 73 is provided on the support sleeve 71, a sliding groove 74 is provided on the sliding sleeve 3, and a pulley 72 is rotatably connected to the bottom of the support sleeve 71. By horizontally sliding the support sleeve 71 on the outer wall of the sliding sleeve 3, the pulley 72 can be gradually moved away from the tire 5. By increasing the distance between the pulley 72 and the tire 5, the supporting area of the sliding sleeve 3 can be increased, so that the base 1 can be effectively and stably supported during the rising process. A limiting rod 75 is fixedly installed on the outer wall of the support rod 2, and the outer wall of the limiting rod 75 is attached to the inner walls of the sliding groove 74 and the inclined groove 73. When the support rod 2 moves upward, the limiting rod 75 will be driven to move upward synchronously while being attached to the inner wall of the sliding groove 74. When the limiting rod 75 moves upward, it will squeeze the inclined groove 73, thereby causing the support sleeve 71 to slide horizontally on the outer wall of the sliding sleeve 3.

[0027] Working principle: By starting the hub motor 4 to drive the tire 5 to rotate, and at the same time cooperating with the sliding sleeve 3 and the support rod 2, the base 1 can be moved. When an obstacle is encountered during the movement, start the servo motor 63 to drive the worm 67 to rotate. Through the rotation of the worm 67 and its meshing with the worm wheel 66, the rotating rod 61 can be driven to rotate. By the rotation of the rotating rod 61, the cross bar 64 can be driven to rotate downward with the rotating rod 61 as the center. At the same time, the cross bar 64 will drive the pressing rod 65 to move downward synchronously. When the pressing rod 65 moves downward, it will squeeze the hollow rod 62 downward and move inside the inner wall of the hollow rod 62. Since the tire 5 is in contact with the ground at this time, when the pressing rod 65 squeezes the hollow rod 62 downward, the cross bar 64 will apply an upward thrust to the rotating rod 61, thereby causing the rotating rod 61 to push the base 1 upward. At this time, under the guiding action of the support rod 2 and the sliding sleeve 3, the base 1 will move vertically upward, so that the gap between the base 1 and the ground can be increased. By raising the base 1, the base 1 can directly cross the obstacle without turning to avoid the obstacle, making the movement of the base 1 smoother.

[0028] When the base 1 moves upward, it will drive the support rod 2 to move upward synchronously inside the sliding sleeve 3. When the support rod 2 moves upward, it will drive the limiting rod 75 to move upward synchronously while being attached to the inner wall of the sliding groove 74. When the limiting rod 75 moves upward, it will squeeze the inclined groove 73, thereby causing the support sleeve 71 to slide horizontally on the outer wall of the sliding sleeve 3 and drive the pulley 72 to gradually move away from the tire 5. By increasing the distance between the pulley 72 and the tire 5, the supporting area of the sliding sleeve 3 can be increased, so that the base 1 can be effectively and stably supported during the rising process, thereby improving the stability of the base 1.

[0029] The above has generally described the present utility model in detail. However, based on the present utility model, some modifications or improvements can be made to it, which are obvious to those of ordinary skill in the art. Therefore, modifications or improvements that do not depart from the spirit of the present utility model are within the protection scope of the present utility model.

Claims

1. A walking mechanism with an obstacle-crossing function, comprising a base (1), characterized in that: A support rod (2) is fixedly mounted on the bottom of the base (1); a sliding sleeve (3) is slidably connected to the outer wall of the support rod (2); a wheel hub motor (4) is fixedly mounted on the bottom of the sliding sleeve (3); a tire (5) is fixedly mounted on the outer wall of the wheel hub motor (4); a lifting mechanism (6) for facilitating crossing obstacles is provided on the base (1); a stabilizing mechanism (7) for improving the stability of the base (1) is provided on the sliding sleeve (3); and the lifting mechanism (6) comprises: A rotating rod (61), the rotating rod (61) is rotatably connected to the bottom of the base (1), a cross rod (64) is fixedly mounted on the outer wall of the rotating rod (61), a pressure rod (65) is fixedly mounted on one end of the cross rod (64) away from the rotating rod (61), and a worm gear (66) is fixedly mounted on the outer wall of the rotating rod (61); A hollow rod (62), the two ends of which are respectively fixedly mounted on the outer walls of the two sets of sliding sleeves (3), and the outer wall of the pressing rod (65) is attached to the inner wall of the hollow rod (62); A servo motor (63) is fixedly mounted on the bottom of the base (1); a worm (67) is fixedly mounted on the output end of the servo motor (63); and the worm (67) is meshed with a worm wheel (66).

2. The walking mechanism with obstacle-crossing function according to claim 1, characterized in that: The stabilizing mechanism (7) comprises a supporting sleeve (71), the supporting sleeve (71) being slidably connected to the outer wall of the sliding sleeve (3), and an inclined groove (73) being provided on the supporting sleeve (71).

3. The walking mechanism with obstacle-crossing function according to claim 1, characterized in that: The sliding sleeve (3) is provided with a sliding groove (74).

4. The walking mechanism with obstacle-crossing function according to claim 2, characterized in that: The bottom of the support sleeve (71) is rotatably connected to a pulley (72).

5. The walking mechanism with obstacle-crossing function according to claim 1, characterized in that: A limiting rod (75) is fixedly mounted on the outer wall of the support rod (2).

6. The walking mechanism with obstacle-crossing function according to claim 5, characterized in that: The outer wall of the limiting rod (75) is fitted on the inner walls of the sliding groove (74) and the inclined groove (73).

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